Human-powered vehicle control device

ABSTRACT

A human-powered vehicle control device includes a controller configured to control a motor that assists propulsion of a human-powered vehicle including a movable member that is extensible and retractable. The controller controls the motor in accordance with actuation of the movable member during an extending or retracting action of the movable member.

BACKGROUND ART

The present disclosure relates to a human-powered vehicle controldevice.

Patent Document 1 discloses a human-powered vehicle control device thatcontrols a motor so that a ratio of motor output to human driving forceinput to a human-powered vehicle becomes equal to a predetermined ratio.

-   Patent Document 1: Japanese Laid-Open Patent Publication No.    10-59260

SUMMARY

One object of the present disclosure is to provide a human-poweredvehicle control device that controls a motor in a preferred manner.

A human-powered vehicle control device in accordance with a first aspectof the present disclosure comprises a controller configured to control amotor that assists propulsion of a human-powered vehicle including amovable member that is extensible and retractable. The controllercontrols the motor in accordance with actuation of the movable memberduring an extending or retracting action of the movable member.

The human-powered vehicle control device in accordance with the firstaspect controls the motor in a preferred manner in accordance with theextending or retracting action of the movable member.

In accordance with a second aspect of the present disclosure, thehuman-powered vehicle control device according to the first aspect isconfigured so that the controller is configured to control the motor inaccordance with at least one of an actuating direction and an actuatingspeed of the movable member.

The human-powered vehicle control device in accordance with secondaspect controls the motor in a preferred manner in accordance with atleast one of the actuating direction and the actuating speed of themovable member.

In accordance with a third aspect of the present disclosure, thehuman-powered vehicle control device according to the first or secondaspect is configured so that the movable member is an adjustableseatpost that includes an outer member and an inner member. Thecontroller increases an assist ratio of the motor to human driving forceinput to the human-powered vehicle in a case where the adjustableseatpost is actuated to move the outer member and the inner member awayfrom each other.

With the human-powered vehicle control device in accordance with thethird aspect, the assist ratio of the motor can be increased in a casewhere the adjustable seatpost is actuated to move the outer member andthe inner member away from each other.

In accordance with a fourth aspect of the present disclosure, thehuman-powered vehicle control device according to the third aspect isconfigured so that the controller decreases the assist ratio of themotor in a case where the adjustable seatpost is actuated to move theouter member and the inner member toward each other.

With the human-powered vehicle control device in accordance with thefourth aspect, the assist ratio of the motor can be decreased in a casewhere the adjustable seatpost is actuated to move the outer member andthe inner member toward each other.

In accordance with a fifth aspect of the present disclosure, thehuman-powered vehicle control device according to the first or secondaspect is configured so that the movable member is an adjustableseatpost that includes an outer member and an inner member. Thecontroller decreases an assist ratio of the motor to human driving forceinput to the human-powered vehicle in a case where the adjustableseatpost is actuated to move the outer member and the inner membertoward each other.

With the human-powered vehicle control device in accordance with thefifth aspect, the assist ratio of the motor can be decreased in a casewhere the adjustable seatpost is actuated to move the outer member andthe inner member toward each other.

In accordance with a sixth aspect of the present disclosure, thehuman-powered vehicle control device according to the first or secondaspect is configured so that the movable member is an adjustableseatpost that includes an outer member and an inner member. Thecontroller starts driving the motor in a case where human driving forceinput to the human-powered vehicle becomes equal to a predeterminedthreshold value. Further, the controller decreases the predeterminedthreshold value in a case where the adjustable seatpost is actuated tomove the outer member and the inner member away from each other.

With the human-powered vehicle control device in accordance with thesixth aspect, the predetermined threshold value can be decreased in acase where the adjustable seatpost is actuated to move the outer memberand the inner member away from each other. Thus, the motor can bestarted driving promptly in a case where the adjustable seatpost isactuated to move the outer member and the inner member away from eachother.

In accordance with a seventh aspect of the present disclosure, thehuman-powered vehicle control device according to the sixth aspect isconfigured so that the controller increases the predetermined thresholdvalue in a case where the adjustable seatpost is actuated to move theouter member and the inner member toward each other.

With the human-powered vehicle control device in accordance with theseventh aspect, the predetermined threshold value can be increased in acase where the adjustable seatpost is actuated to move the outer memberand the inner member toward each other. Thus, the initiation of thedriving of the motor can be delayed in a case where the adjustableseatpost is actuated to move the outer member and the inner membertoward each other.

In accordance with an eighth aspect of the present disclosure, thehuman-powered vehicle control device according to the first or secondaspect is configured so that the movable member is an adjustableseatpost that includes an outer member and an inner member. Thecontroller starts driving the motor in a case where human driving forceinput to the human-powered vehicle becomes equal to a predeterminedthreshold value. Further, the controller increases the predeterminedthreshold value in a case where the adjustable seatpost is actuated tomove the outer member and the inner member toward each other.

With the human-powered vehicle control device in accordance with theeighth aspect, the predetermined threshold value can be increased in acase where the adjustable seatpost is actuated to move the outer memberand the inner member toward each other. The initiation of the driving ofthe motor can be delayed in a case where the adjustable seatpost isactuated to move the outer member and the inner member toward eachother.

In accordance with a ninth aspect of the present disclosure, thehuman-powered vehicle control device according to the first or secondaspect is configured so that the movable member is an adjustableseatpost that includes an outer member and an inner member. Thecontroller controls the motor so that a response speed of the motorbecomes equal to a first response speed in a case where a moving speedof the inner member relative to the outer member is greater than orequal to a predetermined speed. Further, the controller controls themotor so that the response speed of the motor becomes equal to a secondresponse speed in a case where the moving speed of the inner memberrelative to the outer member is less than the predetermined speed. Thefirst response speed is lower than the second response speed.

With the human-powered vehicle control device in accordance with theninth aspect, the response speed of the motor in a case the moving speedof the inner member relative to the outer member is greater than orequal to the predetermined speed can be lower than a case where themoving speed of the inner member relative to the outer member is lessthan the predetermined speed.

In accordance with a tenth aspect of the present disclosure, thehuman-powered vehicle control device according to the second aspect isconfigured so that the movable member is an adjustable seatpost thatincludes an outer member and an inner member. The controller changes anassist ratio of the motor to human driving force input to thehuman-powered vehicle in accordance with a moving direction of the innermember relative to the outer member. Further, the controller changes aresponse speed of the motor in accordance with a moving speed of theinner member relative to the outer member.

With the human-powered vehicle control device in accordance with thetenth aspect, the assist ratio of the motor can be changed to apreferred ratio in accordance with the moving direction of the innermember relative to the outer member. Further, the response speed of themotor can be changed to a preferred speed in accordance with the movingspeed of the inner member relative to the outer member.

In accordance with an eleventh aspect of the present disclosure, thehuman-powered vehicle control device according to the second aspect isconfigured so that the movable member is an adjustable seatpost thatincludes an outer member and an inner member. The controller startsdriving the motor in a case where human driving force input to thehuman-powered vehicle becomes equal to a predetermined threshold value.Further, the controller changes the predetermined threshold value inaccordance with a moving direction of the inner member relative to theouter member. Moreover, the controller changes a response speed of themotor in accordance with a moving speed of the inner member relative tothe outer member.

With the human-powered vehicle control device in accordance with theeleventh aspect, the predetermined threshold value can be changed to apreferred value in accordance with the moving direction of the innermember relative to the outer member. Further, the response speed of themotor can be changed to a preferred speed in accordance with the movingspeed of the inner member relative to the outer member.

In accordance with a twelfth aspect of the present disclosure, thehuman-powered vehicle control device according to the first or secondaspect is configured so that the movable member is an adjustableseatpost that includes an outer member and an inner member. Thecontroller controls the motor at a first assist ratio in a case where amoving speed of the inner member relative to the outer member is greaterthan or equal to a first predetermined speed. Further, the controllercontrols the motor at a second assist ratio in a case where the movingspeed of the inner member relative to the outer member is less than thefirst predetermined speed. The first assist ratio is lower than thesecond assist ratio.

With the human-powered vehicle control device in accordance with thetwelfth aspect, the assist ratio can be smaller in a case where themoving speed of the inner member relative to the outer member is greaterthan or equal to the first predetermined speed than in a case where themoving speed is less than the first predetermined speed.

In accordance with a thirteenth aspect of the present disclosure, thehuman-powered vehicle control device according to the first or secondaspect is configured so that the movable member is an adjustableseatpost that includes an outer member and an inner member. Thecontroller controls the motor at a third assist ratio in a case where amoving speed of the inner member relative to the outer member is greaterthan or equal to a second predetermined speed. Further, the controllercontrols the motor at a fourth assist ratio in a case where a movingspeed of the inner member relative to the outer member is less than thesecond predetermined speed. The third assist ratio is higher than thefourth assist ratio.

With the human-powered vehicle control device in accordance with thethirteenth aspect, the assist ratio can be greater in a case where themoving speed of the inner member relative to the outer member is greaterthan or equal to the second predetermined speed than in a case where themoving speed is less than the second predetermined speed.

In accordance with a fourteenth aspect of the present disclosure, thehuman-powered vehicle control device according to the first or secondaspect is configured so that the human-powered vehicle includes a wheeland a crank, and the movable member is an adjustable seatpost. Thecontroller controls a transmission that changes a transmission ratio ofa rotational speed of the crank to a rotational speed of the wheel inaccordance with a traveling state of the human-powered vehicle. Further,the controller changes a transmission threshold value of thetransmission ratio in accordance with the actuation of the adjustableseatpost.

With the human-powered vehicle control device in accordance with thefourteenth aspect, the transmission can be controlled in a preferredmanner in accordance with at least one of the actuating direction andthe actuating speed of the adjustable seatpost.

In accordance with a fifteenth aspect of the present disclosure, thehuman-powered vehicle control device according to the first or secondaspect is configured so that the movable member is an adjustableseatpost that includes an outer member and an inner member. Thecontroller starts driving the motor in a case where human driving forceinput to the human-powered vehicle becomes equal to a predeterminedthreshold value. Further, the controller increases the predeterminedthreshold value in a case where a moving speed of the inner memberrelative to the outer member is greater than or equal to a thirdpredetermined speed.

With the human-powered vehicle control device in accordance with thefifteenth aspect, the predetermined threshold value can be increased ina case where the moving speed of the inner member relative to the outermember is greater than or equal to the third predetermined speed. Thus,the initiation of the driving of the motor can be delayed in a casewhere the moving speed of the inner member relative to the outer memberis greater than or equal to the third predetermined speed.

In accordance with a sixteenth aspect of the present disclosure, thehuman-powered vehicle control device according to the fifteenth aspectis configured so that the controller decreases the predeterminedthreshold value in a case where the moving speed of the inner memberrelative to the outer member is less than the third predetermined speed.

With the human-powered vehicle control device in accordance with thesixteenth aspect, the predetermined threshold value can be decreased ina case where the moving speed of the inner member relative to the outermember is less than the third predetermined speed. Thus, the motor canbe started driving promptly in a case where the moving speed of theinner member relative to the outer member is less than the thirdpredetermined speed.

A human-powered vehicle control device in accordance with a seventeenthaspect of the present disclosure comprises a controller configured tocontrol a motor that assists propulsion of a human-powered vehiclehaving an operation device including a movable member. The controller isconfigured to control the motor in accordance with at least one of anactuating speed and an actuating direction of the movable member.

The human-powered vehicle control device in accordance with theseventeenth aspect controls the motor in a preferred manner inaccordance with the actuating speed of the movable member.

In accordance with an eighteenth aspect of the present disclosure, thehuman-powered vehicle control device according to the seventeenth aspectis configured so that the operation device includes at least one of alever-type operation device and a grip-type operation device.

The human-powered vehicle control device in accordance with theeighteenth aspect can control the motor in a preferred manner inaccordance with the actuating speed of the movable member that includesthe lever-type or grip-type operation device.

The human-powered vehicle control device of the present disclosurecontrols the motor in a preferred manner.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a side view of a human-powered vehicle including ahuman-powered vehicle control device in accordance with a firstembodiment.

FIG. 2 is a block diagram showing the electric configuration of thehuman-powered vehicle control device in accordance with the firstembodiment.

FIG. 3 is a flowchart illustrating a process for changing an assistratio executed by a controller shown in FIG. 2.

FIG. 4 is a flowchart illustrating a process for changing an assistratio executed by a controller in accordance with a second embodiment.

FIG. 5 is a flowchart illustrating a process for starting driving amotor executed by a controller in accordance with a third embodiment.

FIG. 6 is a flowchart illustrating a process for changing apredetermined threshold value executed by the controller in accordancewith the third embodiment.

FIG. 7 is a flowchart illustrating a process for changing apredetermined threshold value executed by a controller in accordancewith a fourth embodiment.

FIG. 8 is a flowchart illustrating a process for changing a responsespeed executed by a controller in accordance with a fifth embodiment.

FIG. 9 is a flowchart illustrating a process for changing an assistratio and a response speed executed by a controller in accordance with asixth embodiment.

FIG. 10 is a flowchart illustrating a process for changing apredetermined threshold value and a response speed executed by acontroller in accordance with a seventh embodiment.

FIG. 11 is a flowchart illustrating a process for changing an assistrate executed by a controller in accordance with an eight embodiment.

FIG. 12 is a flowchart illustrating a process for changing an assistrate executed by a controller in accordance with a ninth embodiment.

FIG. 13 is a flowchart illustrating a process for changing atransmission threshold value of a transmission ratio executed by acontroller in accordance with a tenth embodiment.

FIG. 14 is a flowchart illustrating a process for changing apredetermined threshold value executed by a controller in accordancewith an eleventh embodiment.

FIG. 15 is a side view of an operation device in accordance with atwelfth embodiment.

FIG. 16 is a flowchart illustrating a process for controlling a motorexecuted by a controller in accordance with a twelfth embodiment.

FIG. 17 is a flowchart illustrating a process for controlling a motorexecuted by a controller in accordance with a thirteenth embodiment.

FIG. 18 is a flowchart illustrating a process for controlling anadjustable seatpost executed by a controller in accordance with afourteenth embodiment.

FIG. 19 is a flowchart illustrating a process for controlling a motorexecuted by the controller in accordance with the thirteenth embodiment.

DETAILED DESCRIPTION First Embodiment

A human-powered vehicle control device 60 in accordance with the firstembodiment will now be described with reference to FIGS. 1 to 3.Hereinafter, the human-powered vehicle control device 60 will be simplyreferred to as the control device 60. The control device 60 is providedon a human-powered vehicle 10. The human-powered vehicle 10 is a vehiclethat can be driven by at least human driving force H. There is no limitto the number of wheels of the human-powered vehicle 10. For example,the human-powered vehicle 10 can be a unicycle or a vehicle having threeor more wheels. Examples of the human-powered vehicle 10 include varioustypes of bicycles such as a mountain bike, a road bike, a city bike, acargo bike, and a recumbent bicycle. The bicycle includes an electricbicycle (E-bike) that produces driving force with an electric motor. Theelectric bicycle includes an electric assist bicycle that assistspropulsion of the vehicle with an electric motor. In the embodimentsdescribed hereafter, the human-powered vehicle 10 will be referred to asa bicycle having two wheels.

The human-powered vehicle 10 includes a crank 14, a wheel 12, and avehicle body 16. The vehicle body 16 includes a frame 18 and a saddle20. The human driving force H is input to the crank 14. The crank 14includes a crankshaft 14A and two crank arms 14B. The crankshaft 14A isrotatably supported by the frame 18. The two crank arms 14B are providedon two ends of the crankshaft 14A, respectively. A pedal 22 is connectedto each crank arm 14B. The wheel 12 includes a driven wheel 12A and adriving wheel 12B. The driving wheel 12B is driven by the rotation ofthe crank 14. The driving wheel 12B is supported by the frame 18. Thecrank 14 is connected to the driving wheel 12B by a driving mechanism24. The driving mechanism 24 includes a first rotary body 26 coupled tothe crankshaft 14A. The crankshaft 14A and the first rotary body 26 canbe coupled integrally rotatable, or can be coupled by a first one-wayclutch. The first one-way clutch is configured to rotate the firstrotary body 26 forward in a case where the crank 14 is rotated forwardand is configured not to rotate the first rotary body 26 rearward in acase where the crank 14 is rotated rearward. The first rotary body 26includes a sprocket, a pulley or a bevel gear. The driving mechanism 24further includes a second rotary body 28 and a linking member 30. Thelinking member 30 transmits rotational force of the first rotary body 26to the second rotary body 28. The linking member 30 includes, forexample, a chain, a belt, or a shaft.

The second rotary body 28 is connected to the driving wheel 12B. Thesecond rotary body 28 includes a sprocket, a pulley, or a bevel gear. Asecond one-way clutch is preferably provided between the second rotarybody 28 and the driving wheel 12B. The second one-way clutch isconfigured to rotate the driving wheel 12B forward in a case where thesecond rotary body 28 is rotate forward and is configured not to rotatethe driving wheel 12B rearward in a case where the second rotary body 28is rotated rearward. The human-powered vehicle 10 can include atransmission 46 used for changing a transmission ratio B of a rotationalspeed of the driving wheel 12B to a rotational speed of the crankshaft14A. The transmission 46 includes, for example, at least one of a frontderailleur, a rear derailleur, and an internal shifting device. Thetransmission 46 can include only a front derailleur, only a rearderailleur, or only an internal shifting device, or any combination ofthe front derailleur, the rear derailleur, and the internal shiftingdevice. In the present embodiment, at least one of the first rotary body26 and the second rotary body 28 includes a plurality of sprockets. Onlythe first rotary body 26, only the second rotary body 28, or both thefirst rotary body 26 and the second rotary body 28 can include aplurality of sprockets. In the present embodiment, the first rotary body26 includes one sheet of sprocket, and the second rotary body 28includes multiple sprockets. In a case where the first rotary body 26includes multiple front sprockets, the derailleur includes a frontderailleur. In a case where the second rotary body 28 includes aplurality of front sprockets, the derailleur includes a rear derailleur.In a case where the transmission 46 includes an internal shiftingdevice, the internal shifting device is provided, for example, on a hubof the driving wheel 12B.

The human-powered vehicle 10 includes a front wheel and a rear wheel.The front wheel is coupled to the frame 18 by a front fork 32. Ahandlebar portion 34 is connected to the front fork 32. The handlebarportion 34 includes a stem 36 and a handlebar 38. The handlebar 38 isconnected to the front fork 32 by the stem 36. In the followingembodiments, the rear wheel will be referred to as the driving wheel12B. However, the front wheel can be the driving wheel 12B.

The human-powered vehicle 10 further includes a battery 40. The battery40 includes one or more battery cells. Each battery cell includes arechargeable battery. The battery 40 is provided on the human-poweredvehicle 10 and supplies electric power to other electric components thatare electrically connected to the battery 40 such as the human-poweredvehicle control device 60. The battery 40 is connected to thehuman-powered vehicle control device 60 through wired connection orwireless connection in a manner allowing for communication. The battery40 is configured to communicate with the human-powered vehicle controldevice 60 through, for example, power line communication (PLC). Thebattery 40 can be attached on the outside of the frame 18 or at leastpartially accommodated inside the frame 18.

The human-powered vehicle 10 includes a motor 42 configured to assistpropulsion of the human-powered vehicle 10. The human-powered vehicle 10further includes a drive circuit 44. The drive circuit 44 includes aninverter circuit. The motor 42 is preferably provided on the samehousing as the drive circuit 44. The drive circuit 44 controls theelectric power supplied from the battery 40 to the motor 42. The drivecircuit 44 is connected to the human-powered vehicle control device 60through wired connection or wireless connection in a manner allowing forcommunication. The drive circuit 44 is configured to communicate with acontroller 62 of the human-powered vehicle control device 60, forexample, through serial communication. The drive circuit 44 can beincluded in the human-powered vehicle control device 60. The drivecircuit 44 drives the motor 42 in response to a control signal from thecontroller 62.

The motor 42 includes an electric motor. The motor 42 is provided totransmit rotation to the front wheel or to a power transmission path ofthe human driving force H extending from the pedal 22 to the rear wheel.The motor 42 is provided on the frame 18, the rear wheel, or the frontwheel of the human-powered vehicle 10. In the present embodiment, themotor 42 is coupled to the power transmission path extending from thecrankshaft 14A to the first rotary body 26. A one-way clutch ispreferably provided in the power transmission path between the motor 42and the crankshaft 14A so that the motor 42 is not rotated by therotational force of the crank 14 in a case where the crankshaft 14A isrotated in the direction in which the human-powered vehicle 10 movesforward. The housing on which the motor 42 and the drive circuit 44 areprovided can include a structure in addition to the motor 42 and thedrive circuit 44. For example, a decelerator that reaccelerates andoutputs rotation of the motor 42 can be provided.

The human-powered vehicle control device 60 includes the controller 62.The controller 62 includes a processor that executes a predeterminedcontrol program. The processor includes, for example, a centralprocessing unit (CPU) or a micro-processing unit (MPU). The controller62 can include one or more microcomputers. The controller 62 can includemore than one processors located at separate positions. Thehuman-powered vehicle control device 60 further includes storage 64. Thestorage 64 stores information used for various control programs andcontrol processes. The storage 64 includes, for example, a nonvolatilememory and a volatile memory. The controller 62 and the storage 64 are,for example, provided on the housing on which the motor 42 is provided.

Preferably, the human-powered vehicle control device 60 further includesa crank rotation sensor 66, a vehicle speed sensor 68, and a torquesensor 70. The crank rotation sensor 66, the vehicle speed sensor 68,and the torque sensor 70 can be provided inside or on the outside of thehousing in which the motor 42 is provided. At least one of the crankrotation sensor 66, the vehicle speed sensor 68, and the torque sensor70 does not have to be included in the human-powered vehicle controldevice 60.

The crank rotation sensor 66 is used to detect a rotational speed N ofthe crank 14 of the human-powered vehicle 10. The crank rotation sensor66 is attached, for example, on the housing on which the frame 18 or themotor 42 of the human-powered vehicle 10 is provided. The crank rotationsensor 66 is configured to include a magnetic sensor that outputs asignal in accordance with the strength of the magnetic field. Aring-shaped magnet of which the magnetic field strength changes in acircumferential direction is provided in the power transmission pathextending from the crankshaft 14A or the crankshaft 14A to the firstrotary body 26. The crank rotation sensor 66 is connected to thecontroller 62 through wireless connection or wireless connection in amanner allowing for communication. The crank rotation sensor 66 outputsa signal corresponding to the rotational speed N of the crank 14 to thecontroller 62. The crank rotation sensor 66 can be provided on themember that rotates integrally with the crankshaft 14A in the powertransmission path of the human driving force H between the crankshaft14A and the first rotary body 26. For example, the crank rotation sensor66 can be provided on the first rotary body 26 in a case where the firstone-way clutch is not provided between the crankshaft 14A and the firstrotary body 26. The crank rotation sensor 66 can be used to detect avehicle speed V of the human-powered vehicle 10. In this case, thecontroller 62 calculates the rotational speed of the driving wheel 12Bin accordance with the rotational speed N of the crank 14, which isdetected by the crank rotation sensor 66, and the transmission ratio Bto detect the vehicle speed V of the human-powered vehicle 10.Information related to the transmission ratio B is stored in the storage64 in advance.

In a case where the human-powered vehicle 10 includes the transmission46 for changing the transmission ratio B, the controller 62 cancalculate the transmission ratio B from the relationship between therotational speed of the second rotary body, the rotational speed of thedriving wheel 12B, or the rotational speed of the driven wheel 12A andthe rotational speed of the first rotary body 26 or the rotational speedN of the crank 14. For example, in a case where the transmission ratio Bis calculated from the relationship of the rotational speed of thedriving wheel 12B and the rotational speed N of the crank 14, thecontroller 62 can calculate the transmission ratio B in accordance withthe vehicle speed V of the human-powered vehicle 10 and the rotationalspeed N of the crank 14. In this case, information related to acircumferential length of the driving wheel 12B, a diameter of thedriving wheel 12B, or a radius of the driving wheel 12B is stored in thestorage 64 in advance. In a case where the transmission ratio B iscalculated from the relationship of the rotational speed of the secondrotary body and the rotational speed of the first rotary body 26 or therotational speed N of the crank 14, and the transmission 46 is notprovided closer to the driving wheel 12B than the second rotary body 28,the controller 62 can calculate the transmission ratio B by dividing therotational speed of the second rotary body by the rotational speed ofthe first rotary body 26 or the rotational speed N of the crank 14. Inthis case, it is preferred that a sensor that detects the rotationalspeed of the second rotary body and the rotational speed of the firstrotary body 26 or the rotational speed N of the crank 14 be provided.

The human-powered vehicle control device 60 can include a transmissionsensor. The transmission sensor is provided, for example, on thetransmission 46. The transmission sensor detects the current shift stageof the transmission 46. The transmission sensor is electricallyconnected to the controller 62. The relationship between the shift stageand the transmission ratio B is stored in the storage 64 in advance. Thecontroller 62 can detect the current transmission ratio B from adetection result of the transmission sensor. In a case where thetransmission 46 is the rear derailleur, the transmission sensor, forexample, detects the transmission ratio B with a rotational angle of achain guide relative to a movable portion. In a case where thetransmission 46 is an electric transmission, the transmission sensor,for example, detects the transmission ratio B with a rotational amountof a motor, which is provided on a movable portion or a fixed portion,and a rotational amount of a rotary member, which is included in a speedreducer connected to an output axis of a motor. The controller 62 cancalculate the rotational speed N of the crank 14 by dividing therotational speed of the driving wheel 12B by the transmission ratio B.In this case, the vehicle speed sensor 68 and the transmission sensorcan be used as the crank rotation sensor 66. The transmission sensordoes not have to be provided on the transmission 46, and can be providedon a shifting operating portion or a shift wire.

The vehicle speed sensor 68 is used for detecting the rotational speedof the wheel 12. The vehicle speed sensor 68 is electrically connectedto the controller 62 through wired or wireless connection. The vehiclespeed sensor 68 is connected to the controller 62 through wireless orwired connection in a manner allowing for communication. The vehiclespeed sensor 68 outputs a signal corresponding to the rotational speedof the wheel 12 to the controller 62. The controller 62 calculates thevehicle speed V of the human-powered vehicle 10 based on the rotationalspeed of the wheel 12. The controller 62 stops the motor 42 in a casewhere the vehicle speed V becomes greater than or equal to apredetermined value. The predetermined value is, for example, 25 km perhour or 45 km per hour. The vehicle speed sensor 68 includes, forexample, a magnetic reed that forms a reed switch or a Hall element. Thevehicle speed sensor 68 can be configured to be mounted on a chainstayof the frame 18 and detect a magnet attached on the rear wheel.Alternatively, the vehicle speed sensor 68 can be configured to beprovided on the front fork 32 and detect a magnet attached on a frontwheel. In another example, the vehicle speed sensor 68 includes a GPSreceiver. The controller 62 can detect the vehicle speed V of thehuman-powered vehicle 10 in accordance with GPS information received atthe GPS receiver, map information stored in the storage 64 in advance,and time. The controller 62 preferably includes a timer for measuringtime.

The torque sensor 70 is used for detecting torque TH based on the humandriving force H. The torque sensor 70 is, for example, provided on thehousing on which the motor 42 is provided. The torque sensor 70 detectsthe torque TH based on the human driving force H input to the crank 14.In a case where, for example, the first one-way clutch is provided inthe power transmission path, the torque sensor 70 is provided at anupstream side of the first one-way clutch. The torque sensor 70 includesa torsion sensor, a magnetostrictive sensor, and the like. The torsionsensor includes a torsion gauge. In a case where the torque sensor 70includes the torsion sensor, the torsion sensor is preferably providedon an outer circumferential portion of a rotary body included in thepower transmission path. The torque sensor 70 can include a wireless orwired communication unit. The communication unit of the torque sensor 70is configured to communicate with the controller 62.

The controller 62, for example, controls the motor 42 so that an assistforce generated by the motor 42 to the human driving force H becomesequal to a predetermined assist ratio A. The controller 62, for example,can control the motor 42 so that output torque TM based on the assistforce generated by the motor 42 becomes equal to the predeterminedassist ratio A to the torque TH based on the human driving force H ofthe human-powered vehicle 10. The controller 62, for example, controlsthe motor 42 in a control mode selected from a plurality of controlmodes having different assist ratios A of the output of the motor 42 tothe human driving force H. A torque assist ratio AT of the output torqueTM of the motor 42 to the torque TH based on the human driving force Hof the human-powered vehicle 10 will also be referred to as the assistratio A. The controller 62, for example, can control the motor 42 sothat power WX (watt) of the motor 42 to power WH (watt) based on thehuman driving force H becomes equal to the predetermined assist ratio A.An assist ratio AW of the power WX of the output of the motor 42 to thepower WH based on the human driving force H of the human-powered vehicle10 will also be referred to as the assist ratio A. The power WH based onthe human driving force H is calculated by multiplying the human drivingforce H and the rotational speed N of the crank 14. In a case where theoutput of the motor 42 is input to the power path of the human drivingforce H through a decelerator, the output of the decelerator correspondsto the output of the motor 42. The controller 62 outputs a controlinstruction to the drive circuit 44 of the motor 42 in accordance withthe power WH or the torque TH based on the human driving force H. Thecontrol instruction includes a torque instruction value.

The controller 62 controls the motor 42 so that an upper limit value Xof the output of the motor 42 is less than or equal to a predeterminedvalue. The controller 62, for example, controls the motor 42 in acontrol mode selected from multiple control modes having different upperlimit values X. The output of the motor 42 includes the output torque TMof the motor 42. The output of the motor 42 can include the power WX ofthe motor 42. In this case, the controller 62 controls the motor 42 sothat the power WX of the motor 42 is less than or equal to apredetermined value WX1. In one example, the predetermined value WX1 is500 watts. In another example, the predetermined value WX1 is 300 watts.The controller 62 can control the motor 42 so that the torque assistratio AT is less than or equal to a predetermined torque assist ratioAT1. In one example, the predetermined torque assist ratio AT1 is 300%.

In each of the control modes, at least one of the assist ratio A and theupper limit value X of the output of the motor 42 can be different. Ineach of the control modes, only the assist ratio A, only the upper limitvalue X, or both of the assist ratio A and the upper limit value X canbe different. In this case, the controller 62 controls the motor 42 sothat the output of the motor 42 is less than or equal to the assistratio A determined for the selected control mode of the motor 42 andless than or equal to a predetermined value.

The human-powered vehicle 10 includes a movable member 48 that extendsand retracts. The extending or retracting action preferably includesmovement of 3 cm or greater. The extending or retracting action furtherpreferably includes movement of 5 cm or greater and even furtherpreferably movement of 6 cm or greater. The extending or retractingaction preferably includes a linear action of a member included in themovable member 48. One example of the movable member 48 is an adjustableseatpost 50. The adjustable seatpost 50 includes a connection portion50A to which the saddle 20 is attached. The adjustable seatpost 50includes a hollow outer member 52 and a hollow inner member 54. Theouter member 52 is mounted on the frame 18. The inner member 54 is atleast partially accommodated inside the outer member 52. The innermember 54 includes a first end 54A that projects from the outer member52. The connection portion 50A is provided on the first end 54A of theinner member 54.

The adjustable seatpost 50 can be of an air type, a hydraulic type, oran electric type including an electric actuator 50B. The electricactuator includes an electric motor. The adjustable seatpost 50 can beconfigured so that the extending or retracting action is restricted orpromoted depending on the load added on the saddle 20.

The adjustable seatpost 50 extensibly moves in a case where the firstend 54A of the inner member 54 moves in a direction toward the outermember 52 or in a direction away from the outer member 52 changing thelength of the inner member 54 accommodated in the outer member 52. In acase where the first end 54A of the inner member 54 moves in thedirection toward the outer member 52, the adjustable seatpost 50 isactuated to move the outer member 52 and the inner member 54 toward eachother. In a case where the first end 54A of the inner member 54 moves inthe direction away from the outer member 52, the adjustable seatpost 50is actuated to move the outer member 52 and the inner member 54 awayfrom other.

In a case where the adjustable seatpost 50 is actuated to move the outermember 52 and the inner member 54 toward each other, the accommodatedlength of the inner member 54 in the outer member is increased.Accordingly, the first end 54A of the inner member 54 moves downward andthus the connection portion 50A and the saddle 20 move downward.

In a case where the adjustable seatpost 50 is actuated to move the outermember 52 and the inner member 54 away from each other, the accommodatedlength of the inner member 54 in the outer member 52 is decreased.Accordingly, the first end 54A of the inner member 54 moves upward andthus the connection portion 50A and the saddle 20 move upward.

The human-powered vehicle 10 preferably further includes an operationdevice 56 for operating the adjustable seatpost 50. The operation device56 is preferably provided on the handlebar 38. The operation device 56,for example, includes a lever. The adjustable seatpost 50 extensiblymoves in accordance with a moving direction of the lever.

The control device 60 includes the controller 62 configured to controlthe motor 42 that assists propulsion of the human-powered vehicle 10including the movable member 48 that is extensible and retractable. Thecontroller 62 controls the motor 42 in accordance with the actuation ofthe movable member 48 during the extending or retracting action. Thecontroller 62 preferably controls the motor 42 in accordance with atleast one of an actuating direction and an actuating speed of themovable member 48.

The movable member 48 of the present embodiment is the adjustableseatpost 50 that includes the outer member 52 and the inner member 54.In a case where the adjustable seatpost 50 is actuated to move the outermember 52 and the inner member 54 away from each other, the controller62 increases the assist ratio A of the motor 42 to the human drivingforce H input to the human-powered vehicle 10. In a case where theconnection portion 50A and the saddle 20 move upward, the controller 62increases the assist ratio A. The controller 62 can increase the assistratio A by changing to one of the control modes having a higher assistratio A or by increasing the assist ratio A determined for the currentlyset control mode.

Preferably, in a case where the adjustable seatpost 50 is actuated tomove the outer member 52 and the inner member 54 toward each other, thecontroller 62 decreases the assist ratio A of the motor 42. In a casewhere the connection portion 50A and the saddle 20 move downward, thecontroller 62 decreases the assist ratio A. The controller 62 candecrease the assist ratio A by changing to one of the control modeshaving a lower assist ratio A or by decreasing the assist ratio Adetermined for the currently set control mode. The controller 62 can setthe assist ratio A to 0 to stop the motor 42.

The control device 60 can further include a detector 72 that detects theactuation of the adjustable seatpost 50. The detector 72 outputs asignal corresponding to the actuation of the adjustable seatpost 50 tothe controller 62.

In one example, in a case where the detector 72 detects actuation inwhich the connection portion 50A moves downward, the controller 62determines that the adjustable seatpost 50 is actuated to move the outermember 52 and the inner member 54 toward each other. In a case where thedetector 72 detects actuation in which the connection portion 50A movesupward, the controller 62 determines that the adjustable seatpost 50 isactuated to move the outer member 52 and the inner member 54 away fromeach other. In this case, the detector 72 outputs a signal correspondingto the movement of the inner member 54 relative to the outer member 52to the controller 62. In this case, the detector 72 can be a linearencoder or a potentiometer. The detector 72 can be an optical sensor ora magnetic sensor.

In another example, in a case where the detector 72 detects operation ofthe operation device 56 that moves the connection portion 50A downward,the controller 62 determines that the adjustable seatpost 50 is actuatedto move the outer member 52 and the inner member 54 toward each other.In a case where the detector 72 detects operation of the operationdevice 56 that moves the connection portion 50A upward, the controller62 determines that the adjustable seatpost 50 is actuated to move theouter member 52 and the inner member 54 away from each other. In thiscase, the detector 72 outputs a signal corresponding to the movement ofa mechanical cable, which connects the operation device 56 or theoperation device 56 and the adjustable seatpost 50, to the controller62. In a case where the adjustable seatpost 50 is configured so that theextending or retracting action is restricted or promoted depending onthe load added on the saddle 20, if the actuation in which theconnection portion 50A is moved downward is performed by the operationdevice 56, the controller 62 can determine that the adjustable seatpost50 is actuated to move the outer member 52 and the inner member 54toward each other even if that the connection portion 50A is not moved.In a case where the adjustable seatpost 50 is configured so that theextending or retracting action is restricted or promoted depending onthe load added on the saddle 20, if the actuation in which theconnection portion 50A is moved upward is performed by the operationdevice 56, the controller 62 can determine that the adjustable seatpost50 is actuated to move the outer member 52 and the inner member 54 awayfrom each other even if the connection portion 50A is not moved.

In a case where the actuation of the adjustable seatpost 50 to move theouter member 52 and the inner member 54 away from each other iscompleted, the controller 62 can change the assist ratio A back to theassist ratio A prior to the change in correspondence with adetermination that the adjustable seatpost 50 is actuated to the moveouter member 52 and the inner member 54 away from each other. In a casewhere the actuation of the adjustable seatpost 50 to move the outermember 52 and the inner member 54 toward each other is completed, thecontroller 62 can change the assist ratio A back to the assist ratio Aprior to the change in correspondence with a determination that theadjustable seatpost 50 is actuated to move the outer member 52 and theinner member 54 toward each other.

With reference to FIG. 3, a process for changing the assist ratio A ofthe motor 42 in accordance with the extending or retracting action ofthe movable member 48 will now be described. In a case where theelectric power is supplied to the controller 62, the controller 62starts the process and proceeds to step S11 of the flowchart shown inFIG. 3. In a case where the process illustrated by the flowchart in FIG.3 ends, the controller 62 repeats the process from step S11 after apredetermined cycle until the supply of the electric power stops.

In step S11, the controller 62 determines whether the adjustableseatpost 50 is actuated to move the outer member 52 and the inner member54 toward each other. In a case where the adjustable seatpost 50 isactuated to move the outer member 52 and the inner member 54 toward eachother, the controller 62 proceeds to step S12. In step S12, thecontroller 62 decreases the assist ratio A and then ends the process.

In step S11, in a case where the adjustable seatpost 50 is not actuatedto move the outer member 52 and the inner member 54 toward each other,the controller 62 proceeds to step S13. In step S13, the controller 62determines whether the adjustable seatpost 50 is actuated to move theouter member 52 and the inner member 54 away from each other. In a casewhere the adjustable seatpost 50 is actuated to move the outer member 52and the inner member 54 away from each other, the controller 62 proceedsto step S14. In step S14, the controller 62 increases the assist ratio Aand then ends the process.

In step S13, in a case where the adjustable seatpost 50 is not actuatedto move the outer member 52 and the inner member 54 away from eachother, the controller 62 ends the process.

For example, in a case where the posture of a rider on a mountain bikeshifts from seated pedaling to standing pedaling, the rider will lowerthe height position of the saddle 20 and ride the human-powered vehicle10 in a manner that continuously and abruptly changes the behavior ofthe human-powered vehicle 10. The controller 62 decreases the assistratio A while lowering the height position of the saddle 20 so the ridercan easily stabilize the behavior of the human-powered vehicle 10.

For example, in a case where a rider travels downhill on a mountainbike, the rider will lower the height position of the saddle 20 and ridethe human-powered vehicle 10 in a state unseated on the saddle 20 or ina state in which the load applied on the saddle 20 by the rider is smallin a manner that continuously and abruptly changes the behavior of thehuman-powered vehicle 10. The controller 62 decreases the assist ratio Awhile lowering the height position of the saddle 20 so the rider caneasily stabilize the behavior of the human-powered vehicle 10.

For example, in a case where the posture of a rider on a mountain bikeshifts from standing pedaling to seated pedaling, the rider will raisethe height position of the saddle 20 and rides the human-powered vehicle10 in a manner in which the traveling speed of the human-powered vehicle10 becomes constant. The controller 62 increases the assist ratio Awhile raising the height position of the saddle 20 so that the motor 42can assist the human driving force H in a preferred manner.

For example, a rider on a mountain bike travels uphill, the rider willraise the height position of the saddle 20 and travel. The controller 62increases the assist ratio A while raising the height position of thesaddle 20 so that the rider can travel uphill comfortably.

Second Embodiment

With reference to FIG. 4, the control device 60 in accordance with thesecond embodiment will now be described. The control device 60 inaccordance with the second embodiment is the same as the control device60 in accordance with the first embodiment except that the motor 42 iscontrolled in accordance with the extending or retracting action of themovable member 48. Thus, same reference numerals are given to thosecomponents that are the same as the corresponding components of thefirst embodiment. Such components will not be described in detail.

The movable member 48 of the present embodiment is the adjustableseatpost 50 that includes the outer member 52 and the inner member 54.In a case where the adjustable seatpost 50 is actuated to move the outermember 52 and the inner member 54 toward each other, the controller 62decreases the assist ratio A of the motor 42 to the human driving forceH input to the human-powered vehicle 10.

In the present embodiment, in a case where the adjustable seatpost 50 isactuated to move the outer member 52 and the inner member 54 away fromeach other, the controller 62 does not increase the assist ratio A. Thecontroller 62 increases the assist ratio A in a case where an operationto increase the assist ratio A is performed on an assist operating unit,which changes the control mode of the motor 42. Alternately, thecontroller 62 increases the assist ratio A in accordance with atraveling state of the human-powered vehicle 10.

With reference to FIG. 4, a process for changing the assist ratio A ofthe motor 42 in accordance with the extending or retracting action ofthe movable member 48 will now be described. In a case where theelectric power is supplied to the controller 62, the controller 62starts the process and proceeds to step S11 of the flowchart shown inFIG. 4. In a case where the process illustrated by the flowchart in FIG.4 ends, the controller 62 repeats the process from step S11 after apredetermined cycle until the supply of the electric power stops.

In step S11, the controller 62 determines whether the adjustableseatpost 50 is actuated to move the outer member 52 and the inner member54 toward each other. In a case where the adjustable seatpost 50 isactuated to move the outer member 52 and the inner member 54 toward eachother, the controller 62 proceeds to step S12. In step S12, thecontroller 62 decreases the assist ratio A and then ends the process.

In step S11, in a case where the adjustable seatpost 50 is not actuatedto move the outer member 52 and the inner member 54 toward each other,the controller 62 ends the process.

Third Embodiment

With reference to FIGS. 5 and 6, the control device 60 in accordancewith the third embodiment will now be described. The control device 60in accordance with the third embodiment is the same as the controldevice 60 in accordance with the first embodiment except that the motor42 is controlled in accordance with the extending or retracting actionof the movable member 48. Thus, same reference numerals are given tothose components that are the same as the corresponding components ofthe first embodiment. Such components will not be described in detail.

The movable member 48 of the present embodiment is the adjustableseatpost 50 that includes the outer member 52 and the inner member 54.In a case where the human driving force H input to the human-poweredvehicle 10 becomes equal to a predetermined threshold value HX, thecontroller 62 starts driving the motor 42. In a case where theadjustable seatpost 50 is actuated to move the outer member 52 and theinner member 54 away from each other, the controller 62 decreases thepredetermined threshold value HX. Preferably, in a case where theadjustable seatpost 50 is actuated to move the outer member 52 and theinner member 54 toward each other, the controller 62 increases thepredetermined threshold value HX.

In a case where the adjustable seatpost 50 is not actuated, thecontroller 62 can use the predetermined threshold value HX that ispreset. After changing the predetermined threshold value HX inaccordance with the extending or retracting action of the movable member48, if the extending or retracting action has ended, the controller 62can change the predetermined threshold value HX back to the presetpredetermined threshold value HX.

With reference to FIG. 5, a process for starting driving the motor 42will now be described. In a case where the electric power is supplied tothe controller 62, the controller 62 starts the process and proceeds tostep S21 of the flowchart shown in FIG. 5. In a case where the processillustrated by the flowchart in FIG. 5 ends, the controller 62 repeatsthe process from step S21 after a predetermined cycle until the supplyof the electric power stops.

In step S21, the controller 62 determines whether the human-poweredvehicle 10 has stared traveling. The controller 62 determines that thehuman-powered vehicle 10 has started traveling, for example, in a casewhere the crank 14 has started rotating. Specifically, the controller 62determines that the crank 14 has started rotating in a case where therotational speed N of the crank 14 has shifted from a predeterminedspeed NX or less to greater than the predetermined speed NX. Thepredetermined speed NX is, for example, 0 rpm. The controller 62 candetermine that the human-powered vehicle 10 has started traveling in acase where the input of the human driving force H has started.Specifically, the controller 62 determines that the input of thehuman-powered vehicle 10 has started in a case where the human drivingforce H shifted from 0 to greater than 0. In a case where thehuman-powered vehicle 10 has not started traveling, the controller 62ends the process. In a case where the human-powered vehicle 10 hasstarted traveling, the controller 62 proceeds to step S22.

In step S22, the controller 62 determines whether the human drivingforce H has become equal to the predetermined threshold value HX. In acase where the controller 62 determines that the human driving force Hhas become equal to the predetermined threshold value HX, the controller62 proceeds to step S23. In step S23, the controller 62 starts drivingthe motor 42 and then ends the process. From step S23, the controller 62drives the motor 42 in accordance with the assist ratio A of theselected control mode.

In step S22, in a case where the human driving force H has not becomeequal to the predetermined threshold value HX, the controller 62proceeds to step S24. In step S24, the controller 62 determines whethera predetermined time TX has elapsed. In step S24, for example, in a casewhere the predetermined time TX has elapsed since the crank 14 wasdetermined to have started rotating, the controller 62 determines thatthe predetermined time TX has elapsed. In step S24, in a case where thecontroller 62 determines that the predetermined time TX has elapsed, thecontroller 62 ends the process. In a case where the controller 62determines that the predetermined time TX has not elapsed, thecontroller 62 performs again the determination process of step S22.

With reference to FIG. 6, a process for changing the predeterminedthreshold value HX in accordance with the extending or retracting actionof the movable member 48 will now be described. In a case where theelectric power is supplied to the controller 62, the controller 62starts the process and proceeds to step S31 of the flowchart shown inFIG. 6. In a case where the process illustrated by the flowchart in FIG.6 ends, the controller 62 repeats the process from step S31 after apredetermined cycle until the supply of the electric power stops.

In step S31, the controller 62 determines whether the adjustableseatpost 50 is actuated to move the outer member 52 and the inner member54 toward each other. In a case where the adjustable seatpost 50 isactuated to move the outer member 52 and the inner member 54 toward eachother, the controller 62 proceeds to step S32. In step S32, thecontroller 62 increases the predetermined threshold value HX and thenends the process.

In step S31, in a case where the adjustable seatpost 50 is not actuatedto move the outer member 52 and the inner member 54 toward each other,the controller 62 proceeds to step S33. In step S33, the controller 62determines whether the adjustable seatpost 50 is actuated to move theouter member 52 and the inner member 54 away from each other. In a casewhere the adjustable seatpost 50 is actuated to move the outer member 52and the inner member 54 away from each other, the controller 62 proceedsto step S34. In step S34, the controller 62 decreases the predeterminedthreshold value HX and then ends the process.

In step S33, in a case where the adjustable seatpost 50 is not actuatedto move the outer member 52 and the inner member 54 away from eachother, the controller 62 ends the process.

The controller 62 increases the predetermined threshold value HX whilelowering the height position of the saddle 20 so that the driving of themotor 42 is delayed and that the rider can easily stabilize the behaviorof the human-powered vehicle 10. The controller 62 decreases thepredetermined threshold value HX while raising the height position ofthe saddle 20 so that the motor 42 can readily assist the human drivingforce H.

Fourth Embodiment

With reference to FIG. 7, the control device 60 in accordance with thefourth embodiment will now be described. The control device 60 inaccordance with the fourth embodiment is the same as the control device60 in accordance with the third embodiment except that the motor 42 iscontrolled in accordance with the extending or retracting action of themovable member 48. Thus, same reference numerals are given to thosecomponents that are the same as the corresponding components of thefirst and third embodiments. Such components will not be described indetail.

The movable member 48 of the present embodiment is the adjustableseatpost 50 that includes the outer member 52 and the inner member 54.In a case where the human driving force H input to the human-poweredvehicle 10 becomes equal to the predetermined threshold value HX, thecontroller 62 starts driving the motor 42. In a case where theadjustable seatpost 50 is actuated to move the outer member 52 and theinner member 54 toward each other, the controller 62 increases thepredetermined threshold value HX.

In the present embodiment, in a case where the adjustable seatpost 50 isactuated to move the outer member 52 and the inner member 54 away fromeach other, the controller 62 does not decrease the predeterminedthreshold value HX. After changing the predetermined threshold value HXin accordance with the extending or retracting action of the movablemember 48, if the extending or retracting action of the movable member48 has ended, the controller 62 can change the predetermined thresholdvalue HX back to the preset predetermined threshold value HX.

With reference to FIG. 7, a process for changing the predeterminedthreshold value HX in accordance with the extending or retracting actionof the movable member 48 will now be described. In a case where theelectric power is supplied to the controller 62, the controller 62starts the process and proceeds to step S31 of the flowchart shown inFIG. 7. In a case where the process illustrated by the flowchart in FIG.7 ends, the controller 62 repeats the process from step S31 after apredetermined cycle until the supply of the electric power stops.

In step S31, the controller 62 determines whether the adjustableseatpost 50 is actuated to move the outer member 52 and the inner member54 toward each other. In a case where the adjustable seatpost 50 isactuated to move the outer member 52 and the inner member 54 toward eachother, the controller 62 proceeds to step S32. In step S32, thecontroller 62 increases the predetermined threshold value HX and thenends the process.

In step S31, in a case where the adjustable seatpost 50 is not actuatedto move the outer member 52 and the inner member 54 toward each other,the controller 62 ends the process.

Fifth Embodiment

With reference to FIG. 8, the control device 60 in accordance with thefifth embodiment will now be described. The control device 60 inaccordance with the fifth embodiment is the same as the control device60 in accordance with the first embodiment except that the motor 42 iscontrolled in accordance with the extending or retracting action of themovable member 48. Thus, same reference numerals are given to thosecomponents that are the same as the corresponding components of thefirst embodiment. Such components will not be described in detail.

The controller 62 changes a response speed R of an output change of themotor 42 with respect to a change rate of the human driving force H inaccordance with the traveling state of the human-powered vehicle 10. Thetraveling state of the human-powered vehicle 10 includes changes in thehuman driving force H. For example, the controller 62 sets the responsespeed R in a case where the human driving force H decreases to be lowerthan the response speed R in a case where the human driving force Hincreases. In this case, in a case where the human driving force Hincreases, the output of the motor 42 easily increases along with theincrease in the human driving force H. Further, in a case where thehuman driving force H decreases, decreases in the output of the motor 42can be limited. The controller 62 preferably includes a filter forchanging the response speed R. The controller 62 is configured to changethe response speed R by changing a time constant.

The movable member 48 of the present embodiment is the adjustableseatpost 50 that includes the outer member 52 and the inner member 54.In a case where a moving speed M of the inner member 54 relative to theouter member 52 is greater than or equal to a predetermined speed MX,the controller 62 controls the motor 42 so that the response speed R ofthe motor 42 becomes equal to a first response speed R1. In a case wherethe moving speed M of the inner member 54 relative to the outer member52 is less than the predetermined speed MX, the controller 62 controlsthe motor 42 so that the response speed R of the motor 42 becomes equalto a second response speed R2. The first response speed R1 is lower thanthe second response speed R2.

The controller 62 preferably sets the response speed R in a case wherethe human driving force H increases at the first response speed R1 to belower than the response speed R in a case where the human driving forceH increases at the second response speed R2. The controller 62 can setthe response speed R in a case where the human driving force H decreasesat the first response speed R1 to be equal to the response speed R in acase where the human driving force H increases at the second responsespeed R2 or higher than the response speed R in a case where the humandriving force H increases at the second response speed R2.

With reference to FIG. 8, a process for changing the response speed R inaccordance with the extending or retracting action of the movable member48 will now be described. In a case where the electric power is suppliedto the controller 62, the controller 62 starts the process and proceedsto step S41 of the flowchart shown in FIG. 8. In a case where theprocess illustrated by the flowchart in FIG. 8 ends, the controller 62repeats the process from step S41 after a predetermined cycle until thesupply of the electric power stops.

In step S41, the controller 62 determines whether the moving speed M isgreater than or equal to the predetermined speed MX. In a case where themoving speed M is greater than or equal to the predetermined speed MX,the controller 62 proceeds to step S42. In step S42, the controller 62controls the motor 42 so that the response speed R becomes equal to thefirst response speed R1 and then ends the process.

In step S41, in a case where the moving speed M less than thepredetermined speed MX, the controller 62 proceeds to step S43. In stepS43, the controller 62 controls the motor 42 so that the response speedR becomes equal to the second response speed R2 and then ends theprocess.

In a case where the moving speed M of the inner member 54 relative tothe outer member 52 is greater than or equal to the predetermined speedMX, the motor 42 is controlled at the first response speed R1. Thus, theoutput of the motor 42 does not easily increase in a case where thehuman driving force H increases. In this manner, the rider can easilychange the posture in a preferred manner by quickly operating theadjustable seatpost 50 in a state in which the output of the motor 42 islimited and the behavior of the human-powered vehicle 10 is stable.

Sixth Embodiment

With reference to FIG. 9, the control device 60 in accordance with thesixth embodiment will now be described. The control device 60 inaccordance with the sixth embodiment is the same as the control device60 in accordance with the first and fifth embodiments except that themotor 42 is controlled in accordance with the extending or retractingaction of the movable member 48. Thus, same reference numerals are givento those components that are the same as the corresponding components ofthe first and fifth embodiments. Such components will not be describedin detail.

The movable member 48 of the present embodiment is the adjustableseatpost 50 that includes the outer member 52 and the inner member 54.The controller 62 changes the assist ratio A of the motor 42 to thehuman driving force H input to the human-powered vehicle 10 inaccordance with the moving direction of the inner member 54 relative tothe outer member 52. The controller 62 changes the response speed R ofthe motor 42 in accordance with the moving speed M of the inner member54 relative to the outer member 52.

The controller 62 preferably increases the assist ratio A in a casewhere the adjustable seatpost 50 is actuated to move the outer member 52and the inner member 54 away from each other. The controller 62preferably increases the assist ratio A in a case where the connectionportion 50A and the saddle 20 move upward. The controller 62 canincrease the assist ratio A by changing to one of the control modeshaving a higher assist ratio A.

The controller 62 preferably decreases the assist ratio A in a casewhere the adjustable seatpost 50 is actuated to move the outer member 52and the inner member 54 toward each other. The controller 62 preferablydecreases the assist ratio A in a case where the connection portion 50Aand the saddle 20 move downward. The controller 62 can decrease theassist ratio A by changing to one of the control modes having a lowerassist ratio A. The controller 62 can set the assist ratio A to 0 andstops the motor 42.

The controller 62 preferably controls the motor 42 so that the responsespeed R of the motor 42 becomes equal to the first response speed R1 ina case where the moving speed M is greater than or equal to thepredetermined speed MX. The controller 62 preferably controls the motor42 so that the response speed R of the motor 42 becomes equal to asecond response speed R2 in a case where the moving speed M of the innermember 54 relative to the outer member 52 is less than the predeterminedspeed MX. The first response speed R1 is preferably lower than thesecond response speed R2. The controller 62 preferably sets the responsespeed R in a case where the human driving force H increases at the firstresponse speed R1 to be lower than the response speed R in a case wherethe human driving force H increases at the second response speed R2. Thecontroller 62 can set the response speed R in a case where the humandriving force H decreases at the first response speed R1 to be equal tothe response speed R in a case where the human driving force H increasesat the second response speed R2 or higher than the response speed R in acase where the human driving force H increases at the second responsespeed R2.

With reference to FIG. 9, a process for changing the assist ratio A andthe response speed R in accordance with the extending or retractingaction of the movable member 48 will now be described. In a case wherethe electric power is supplied to the controller 62, the controller 62starts the process and proceeds to step S51 of the flowchart shown inFIG. 9. In a case where the process illustrated by the flowchart in FIG.9 ends, the controller 62 repeats the process from step S51 after apredetermined cycle until the supply of the electric power stops.

In step S51, the controller 62 determines whether the outer member 52and the inner member 54 are moving relative to each other. In a casewhere the outer member 52 and the inner member 54 are moving relative toeach other, the controller 62 proceeds to step S52. In step S52, thecontroller 62 changes the assist ratio A in accordance with the movingdirection and changes the response speed R in accordance with the movingspeed M. Then, the controller 62 ends the process.

In a case where the outer member 52 and the inner member 54 are notmoving relative to each other, the controller 62 ends the process. Inthis case, the motor 42 is preferably controlled in accordance with apredetermined assist ratio A and a predetermined response speed R. Thepredetermined response speed R is preferably equal to the secondresponse speed R2 of the sixth embodiment.

Seventh Embodiment

With reference to FIG. 10, the control device 60 in accordance with theseventh embodiment will now be described. The control device 60 inaccordance with the seventh embodiment is the same as the control device60 in accordance with the first, third, and fifth embodiments exceptthat the motor 42 is controlled in accordance with the extending orretracting action of the movable member 48. Thus, same referencenumerals are given to those components that are the same as thecorresponding components of the first, third, and fifth embodiments.Such components will not be described in detail.

The movable member 48 of the present embodiment is the adjustableseatpost 50 that includes the outer member 52 and the inner member 54.In a case where the human driving force H input to the human-poweredvehicle 10 becomes equal to the predetermined threshold value HX, thecontroller 62 starts driving the motor 42. The controller 62 changes thepredetermined threshold value HX in accordance with the moving directionof the inner member 54 relative to the outer member 52. The controller62 changes the response speed R of the motor 42 in accordance with themoving speed M of the inner member 54 relative to the outer member 52.

The controller 62 preferably decreases the predetermined threshold valueHX in a case where the adjustable seatpost 50 is actuated to move theouter member 52 and the inner member 54 away from each other. Thecontroller 62 preferably increases the predetermined threshold value HXin a case where the adjustable seatpost 50 is actuated to move the outermember 52 and the inner member 54 toward each other.

The controller 62 preferably controls the motor 42 so that the responsespeed R of the motor 42 becomes equal to the first response speed R1 ina case where the moving speed M is greater than or equal to thepredetermined speed MX. The controller 62 preferably controls the motor42 so that the response speed R of the motor 42 becomes equal to asecond response speed R2 in a case where the moving speed M of the innermember 54 relative to the outer member 52 is less than the predeterminedspeed MX. The first response speed R1 is preferably lower than thesecond response speed R2. The controller 62 preferably sets the responsespeed R in a case where the human driving force H increases at the firstresponse speed R1 to be lower than the response speed R in a case wherethe human driving force H increases at the second response speed R2. Thecontroller 62 can set the response speed R in a case where the humandriving force H decreases at the first response speed R1 to be equal tothe response speed R in a case where the human driving force increases Hat the second response speed R2 or higher than the response speed R in acase where the human driving force H increases at the second responsespeed R2.

With reference to FIG. 10, a process for changing the response speed Rin accordance with the extending or retracting action of the movablemember 48 and the predetermined threshold value HX will now bedescribed. In a case where the electric power is supplied to thecontroller 62, the controller 62 starts the process and proceeds to stepS61 of the flowchart shown in FIG. 10. In a case where the processillustrated by the flowchart in FIG. 10 ends, the controller 62 repeatsthe process from step S61 after a predetermined cycle until the supplyof the electric power stops.

In step S61, the controller 62 determines whether the outer member 52and the inner member 54 are moving relative to each other. In a casewhere the outer member 52 and the inner member 54 are moving relative toeach other, the controller 62 proceeds to step S62. In step S62, thecontroller 62 changes the predetermined threshold value HX in accordancewith the moving direction and changes the response speed R in accordancewith the moving speed M. Then, the controller 62 ends the process.

In a case where the outer member 52 and the inner member 54 are notmoving relative to each other, the controller 62 ends the process. Inthis case, the motor 42 is preferably controlled in accordance with apredetermined assist ratio A and a predetermined response speed R.

Eighth Embodiment

With reference to FIG. 11, the control device 60 in accordance with theeighth embodiment will now be described. The control device 60 inaccordance with the eighth embodiment is the same as the control device60 in accordance with the first and fifth embodiments except that themotor 42 is controlled in accordance with the extending or retractingaction of the movable member 48. Thus, same reference numerals are givento those components that are the same as the corresponding components ofthe first and fifth embodiments. Such components will not be describedin detail.

The movable member 48 of the present embodiment is the adjustableseatpost 50 that includes the outer member 52 and the inner member 54.In a case where the moving speed M of the inner member 54 relative tothe outer member 52 is greater than or equal to a first predeterminedspeed M1, the controller 62 controls the motor 42 at a first assistratio A1. In a case where the moving speed M of the inner member 54relative to the outer member 52 is less than the first predeterminedspeed M1, the controller 62 controls the motor 42 at a second assistratio A2. The first assist ratio A1 is less than the second assist ratioA2.

With reference to FIG. 11, a process for changing the assist ratio A inaccordance with the extending or retracting action of the movable member48 will now be described. In a case where the electric power is suppliedto the controller 62, the controller 62 starts the process and proceedsto step S71 of the flowchart shown in FIG. 11. In a case where theprocess illustrated by the flowchart in FIG. 11 ends, the controller 62repeats the process from step S71 after a predetermined cycle until thesupply of the electric power stops.

In step S71, the controller 62 determines whether the moving speed M isgreater than or equal to the first predetermined speed M1. In a casewhere the moving speed M is greater than or equal to the firstpredetermined speed M1, the controller 62 proceeds to step S72. In stepS72, the controller 62 controls the motor 42 at the first assist ratioA1 and then ends the process.

In step S71, in a case where the moving speed M is less than the firstpredetermined speed M1, the controller 62 proceeds to step S73. In stepS73, the controller 62 controls the motor 42 at the second assist ratioA2 and then ends the process.

In a case where the moving speed M of the inner member 54 relative tothe outer member 52 is greater than or equal to the first predeterminedspeed M1, the motor 42 is controlled at the first assist ratio A1 sothat the output of the motor 42 is limited. Accordingly, the rider caneasily change the posture in a preferred manner by quickly operating theadjustable seatpost 50 in a state in which the output of the motor 42 islimited and the behavior of the human-powered vehicle 10 is stable.

Ninth Embodiment

With reference to FIG. 12, the control device 60 in accordance with theninth embodiment will now be described. The control device 60 inaccordance with the ninth embodiment is the same as the control device60 in accordance with the first and fifth embodiments except that themotor 42 is controlled in accordance with the extending or retractingaction of the movable member 48. Thus, same reference numerals are givento those components that are the same as the corresponding components ofthe first and fifth embodiments. Such components will not be describedin detail.

The movable member 48 of the present embodiment is the adjustableseatpost 50 that includes the outer member 52 and the inner member 54.In a case where the moving speed M of the inner member 54 relative tothe outer member 52 is greater than or equal to a second predeterminedspeed M2, the controller 62 controls the motor 42 at a third assistratio A3. In a case where the moving speed M of the inner member 54relative to the outer member 52 is less than the second predeterminedspeed M2, the controller 62 controls the motor 42 at a fourth assistratio A4. The third assist ratio A3 is greater than the fourth assistratio A4.

With reference to FIG. 12, a process for changing the assist ratio A inaccordance with the extending or retracting action of the movable member48 will now be described. In a case where the electric power is suppliedto the controller 62, the controller 62 starts the process and proceedsto step S81 of the flowchart shown in FIG. 12. In a case where theprocess illustrated by the flowchart in FIG. 12 ends, the controller 62repeats the process from step S81 after a predetermined cycle until thesupply of the electric power stops.

In step S81, the controller 62 determines whether the moving speed M isgreater than or equal to the second predetermined speed M2. In a casewhere the moving speed M is greater than or equal to the secondpredetermined speed M2, the controller 62 proceeds to step S82. In stepS82, the controller 62 controls the motor 42 at the third assist ratioA3 and then ends the process.

In step S81, in a case where the moving speed M is less than the secondpredetermined speed M2, the controller 62 proceeds to step S83. In stepS83, the controller 62 controls the motor 42 at the fourth assist ratioA4 and then ends the process.

In a case where the moving speed M of the inner member 54 relative tothe outer member 52 is greater than or equal to the second predeterminedspeed M2, the motor 42 is controlled at the third assist ratio A3 sothat the output of the motor 42 easily increase. In this way, in a casewhere the rider quickly actuates the adjustable seatpost 50 to travelactively, the motor 42 can assist the human driving force H in apreferred manner.

Tenth Embodiment

With reference to FIG. 13, the control device 60 in accordance with thetenth embodiment will now be described. The control device 60 inaccordance with the tenth embodiment is the same as the control device60 in accordance with the first and fifth embodiments except that thetransmission 46 is controlled in accordance with the extending orretracting action of the movable member 48. Thus, same referencenumerals are given to those components that are the same as thecorresponding components of the first and fifth embodiments. Suchcomponents will not be described in detail.

The human-powered vehicle 10 includes a wheel and the crank 14. Themovable member 48 of the present embodiment is the adjustable seatpost50. The controller 62 controls the transmission 46 that changes thetransmission ratio B of the rotational speed N of the crank 14 to therotational speed of the wheel in accordance with the traveling state ofthe human-powered vehicle 10. The controller 62 changes a transmissionthreshold value of the transmission ratio B in accordance with theactuation of the adjustable seatpost 50. As described below, thetransmission threshold value indicates a maximum or minimum value of thetransmission ratio B with respect to the human driving force H and therotational speed N of the crank 14.

In one example, the traveling state of the human-powered vehicle 10includes the human driving force H. In this case, for example, in a casewhere the human driving force H becomes greater than a firsttransmission threshold value H1, the controller 62 controls thetransmission 46 to decrease the transmission ratio B. Further, in a casewhere the human driving force H becomes less than a second transmissionthreshold value H2, the controller 62 controls the transmission 46 toincrease the transmission ratio B. The first transmission thresholdvalue H1 is greater than the second transmission threshold value H2.

In another example, the traveling state of the human-powered vehicle 10includes the rotational speed N of the crank 14. In this case, forexample, the controller 62 controls the transmission 46 so that thetransmission ratio B increases in a case where the rotational speed N ofthe crank 14 becomes greater than a first transmission threshold valueN1. Further, the controller 62 controls the transmission 46 so that thetransmission ratio B decreases in a case where the rotational speed N ofthe crank 14 becomes less than a second transmission threshold value N2.

The controller 62, for example, changes the transmission threshold valuein accordance with the moving speed M of the inner member 54 relative tothe outer member 52. For example, in a case where the moving speed M isgreater than or equal to a first speed MY, the controller 62 increasesthe first transmission threshold values H1 and N1 more than in a casewhere the moving speed M is less than the first speed MY. For example,in a case where the moving speed M is less than the first speed MY, thecontroller 62 decreases the second transmission threshold values H2 andN2 to be smaller than those in a case where the moving speed M isgreater than or equal to the first speed MY. In this case, changes inthe transmission ratio B is limited in a case where the moving speed Mgreater than or equal to the first speed MY. Thus, the rider is lesslikely to experience awkward feelings.

The controller 62, for example, changes the transmission threshold valuein accordance with the moving direction of the inner member 54 relativeto the outer member 52. The controller 62, for example, increases thefirst transmission threshold values H1 and N1 in a case where the outermember 52 and the inner member 54 move in the direction away from eachother. The controller 62, for example, decreases the second transmissionthreshold values H2 and N2 in a case where the outer member 52 and theinner member 54 move in a direction away from each other. In this case,changes in the transmission ratio B is limited in a case where the riderraises the height position of the saddle 20 to shift from standingpedaling to seated pedaling. Thus, the rider is less likely toexperience awkward feelings.

The controller 62 can increase the first transmission threshold valuesH1 and N1 in a case where the outer member 52 and the inner member 54move toward each other. The controller 62 can decrease the secondtransmission threshold values H2 and N2 in a case where the outer member52 and the inner member 54 move toward each other. In this case, changesin the transmission ratio B is limited in a case where the rider raisesthe height position of the saddle 20 to shift from seated pedaling tostanding pedaling. Thus, the rider is less likely to experience awkwardfeelings.

With reference to FIG. 13, a process for changing a transmissionthreshold value in accordance with the extending or retracting action ofthe movable member 48 will now be described. In a case where theelectric power is supplied to the controller 62, the controller 62starts the process and proceeds to step S91 of the flowchart shown inFIG. 13. In a case where the process illustrated by the flowchart inFIG. 13 ends, the controller 62 repeats the process from step S91 aftera predetermined cycle until the supply of the electric power stops.

In step S91, the controller 62 determines whether the outer member 52and the inner member 54 are moving relative to each other. In a casewhere the outer member 52 and the inner member 54 are not movingrelative to each other, the controller 62 ends the process. In a casewhere the outer member 52 and the inner member 54 are moving relative toeach other, the controller 62 proceeds to step S92. In step S92, thecontroller 62 changes the transmission threshold value of thetransmission ratio B in accordance with the actuation of the adjustableseatpost 50.

Eleventh Embodiment

With reference to FIG. 14, the control device 60 in accordance with theeleventh embodiment will now be described. The control device 60 inaccordance with the eleventh embodiment is the same as the controldevice 60 in accordance with the first, third, and fifth embodimentsexcept that the motor 42 is controlled in accordance with the extendingor retracting action of the movable member 48. Thus, same referencenumerals are given to those components that are the same as thecorresponding components of the first, third, and fifth embodiments.Such components will not be described in detail.

The movable member 48 of the present embodiment is the adjustableseatpost 50 that includes the outer member 52 and the inner member 54.In a case where the human driving force H input to the human-poweredvehicle 10 becomes equal to the predetermined threshold value HX, thecontroller 62 starts driving the motor 42. In a case where the movingspeed M of the inner member 54 relative to the outer member 52 isgreater than or equal to a third predetermined speed M3, the controller62 increases the predetermined threshold value HX. In a case where themoving speed M of the inner member 54 relative to the outer member 52 isless than the third predetermined speed M3, the controller 62 decreasesthe predetermined threshold value HX.

With reference to FIG. 14, a process for changing the predeterminedthreshold value HX in accordance with the extending or retracting actionof the movable member 48 will now be described. In a case where theelectric power is supplied to the controller 62, the controller 62starts the process and proceeds to step S101 of the flowchart shown inFIG. 14. In a case where the process illustrated by the flowchart inFIG. 14 ends, the controller 62 repeats the process from step S101 aftera predetermined cycle until the supply of the electric power stops.

In step S101, the controller 62 determines whether the moving speed M isgreater than or equal to the third predetermined speed M3. In a casewhere the moving speed M is greater than or equal to the thirdpredetermined speed M3, the controller 62 proceeds to step S102. In stepS102, the controller 62 increases the predetermined threshold value HXand then ends the process.

In step S101, in a case where the moving speed M is less than the thirdpredetermined speed M3, the controller 62 proceeds to step S103. In stepS103, the controller 62 decreases the predetermined threshold value HXand then ends the process.

Twelfth Embodiment

With reference to FIGS. 1, 15, and 16, the control device 60 inaccordance with the twelfth embodiment will now be described. Thecontrol device 60 in accordance with the twelfth embodiment is the sameas the first embodiment except that the motor 42 is controlled inaccordance with the extending or retracting action of the movable member48. Thus, same reference numerals are given to those components that arethe same as the corresponding components of the first embodiment. Suchcomponents will not be described in detail.

The control device 60 includes the controller 62 configured to controlthe motor 42 that assists propulsion of the human-powered vehicle 10having an operation device 80 including a movable member 82. Thecontroller 62 controls the motor 42 in accordance with at least one ofthe actuating speed and the actuating direction of the movable member82. The controller 62 changes at least one of the predeterminedthreshold value HX, the response speed R, and the assist ratio A inaccordance with the actuating speed of and the actuating direction ofthe movable member 82. Specifically, the controller 62 changes at leastone of the assist ratio A, the predetermined threshold value HX, and theresponse speed R through the same processes as the first to eleventhembodiments.

The operation device 80 includes at least one of a lever-type operationdevice and a grip-type operation device. If the operation device 80 isof a lever type, the movable member 82 can include a lever. If theoperation device 80 is of a grip type, the movable member 82 canincludes a grip. If the operation device 80 is connected to a mechanicalcable, the movable member 82 can include a cable.

The operation device 80, for example, includes at least one of anoperation device of the transmission 46, the operation device 56 of theadjustable seatpost 50, and an operation device of a brake. Theoperation device 80 does not include an operation device for changingthe control mode of the motor 42.

In a case where the operation device 80 includes the operation device ofthe transmission 46, the operation device 80 can include thetransmission 46. In this case, the movable member 82 includes a movableportion of the transmission 46. In a case where the transmission 46includes a derailleur, the movable portion of the transmission 46includes at least one of a link of the derailleur, a movable member, anda plate. In a case where the transmission 46 includes an internalshifting device, the movable portion of the transmission 46 includes acontrol member that changes the rotational state of the gears of aplanetary gear mechanism.

FIG. 15 shows one example of the operation device for the transmission46 of the operation device 80. The movable member 82 includes a lever.The movable member 82 is configured to be movable in a first directionD1 and a second direction D2.

With reference to FIG. 16, a process for controlling the motor 42 inaccordance with the actuation of the movable member 48 will now bedescribed. In a case where the electric power is supplied to thecontroller 62, the controller 62 starts the process and proceeds to stepS111 of the flowchart shown in FIG. 16. In a case where the processillustrated by the flowchart in FIG. 16 ends, the controller 62 repeatsthe process from step S111 after a predetermined cycle until the supplyof the electric power stops.

In step S111, the controller 62 determines whether the movable member 82is moving. In a case where there the movable member 82 is moving, thecontroller 62 proceeds to step S112. In step S112, the controller 62controls the motor 42 in accordance with at least one of the actuatingdirection of the actuating speed of the movable member 82 and then endsthe process. In step S111, in a case where the controller 62 determinesthat the movable member 82 is not moving, the controller 62 ends theprocess.

In a case where the operation device 80 includes a lever and controlsthe motor 42 in accordance with at least one of the operating directionand the actuating speed of the lever, the control of the motor 42 can beended after a predetermined period elapses from the completion of theactuation of the movable member 48. In this case, for example, if theactuation of the transmission 46, the adjustable seatpost 50, or abrake, which are driven in correspondence with the actuation of themovable member 82, ends after the actuation of the movable member 82 hasended, a situation is avoided in which the control of the motor 42 endsbefore the actuation of the components end. The controller 62 candetermine whether the predetermined period elapsed in accordance with atleast one of time, the distance the human-powered vehicle 10 traveled,the rotational amount of the crank 14 or the first rotary body 26, therotational amount of the second rotary body 28, and the rotationalamount of the driving wheel 12B.

Thirteenth Embodiment

With reference to FIGS. 1 and 17, the control device 60 in accordancewith the thirteenth embodiment will now be described. The control device60 in accordance with the thirteenth embodiment is the same as the firstembodiment except that the motor 42 is controlled in accordance with theextending or retracting action of the movable member 48. Thus, samereference numerals are given to those components that are the same asthe corresponding components of the first embodiment. Such componentswill not be described in detail.

The movable member 48 of the present embodiment is a suspension 90 thatincludes an outer member 92 and an inner member 94. The suspension 90includes at least one of a front suspension and a rear suspension.

The control device 60 includes the controller 62 configured to controlthe motor 42 that assists propulsion of the human-powered vehicle 10including the movable member 48 that is extensible and retractable. Thecontroller 62 controls the motor 42 in accordance with the actuation ofthe movable member 48 during the extending or retracting action. Thecontroller 62 preferably controls the motor 42 in accordance with atleast one of the actuating direction and the actuating speed of themovable member 48.

In a first example, the controller 62 differentiates the control of themotor 42 between a case where the suspension 90 is actuated to move theouter member 92 and the inner member 94 way from each other and a casewhere the suspension 90 is actuated to move the outer member 92 and theinner member 94 toward each other. The controller 62 differentiates atleast one of the assist ratio A, the predetermined threshold value HX,and the response speed R between a case where the suspension 90 isactuated to move the outer member 92 and the inner member 94 away fromeach other and a case where the suspension 90 is actuated to move theouter member 92 and the inner member 94 toward each other.

In a second example, the controller 62 changes the control of the motor42 in accordance with the actuating speed of the inner member 94relative to the outer member 92. The controller 62 changes at least oneof the assist ratio A, the predetermined threshold value HX, and theresponse speed R in accordance with the actuating speed of the innermember 94 relative to the outer member 92. The first example and thesecond example can be combined.

With reference to FIG. 17, a process for controlling the motor 42 inaccordance with the actuation of the movable member 48 will now bedescribed. In a case where the electric power is supplied to thecontroller 62, the controller 62 starts the process and proceeds to stepS121 of the flowchart shown in FIG. 17. In a case where the processillustrated by the flowchart in FIG. 17 ends, the controller 62 repeatsthe process from step S121 after a predetermined cycle until the supplyof the electric power stops.

In step S121, the controller 62 determines whether the outer member 92and the inner member 94 are moving relative to each other. In a casewhere the outer member 92 and the inner member 94 are moving relative toeach other, the controller 62 proceeds to step S122. In step S122, thecontroller 62 controls the motor 42 in accordance with at least one ofthe actuating direction of the actuating speed of the movable member 48and then ends the process. The controller 62 specifically controls themotor 42 in accordance with at least one of the actuating speed and theactuating direction of the relative movement of the outer member 92 andthe inner member 94. In step S121, in a case where the outer member 92and the inner member 94 are not moving relative to each other, thecontroller 62 ends the process.

Fourteenth Embodiment

With reference to FIG. 18, the control device 60 of the fourteenthembodiment will now be described. The control device 60 in accordancewith the fourteenth embodiment is the same as that of the firstembodiment except that the controller 62 controls the adjustableseatpost 50. Thus, same reference numerals are given to those componentsthat are the same as the corresponding components of the firstembodiment. Such components will not be described in detail.

As shown in FIG. 1, the adjustable seatpost 50 includes the electricactuator 50B that move the outer member 52 and the inner member 54relative to each other. The electric actuator 50B includes an electricmotor. In a case where a first condition is satisfied, the controller 62actuates the adjustable seatpost 50 to move the outer member 52 and theinner member 54 toward each other. In a case where a second condition issatisfied, the controller 62 actuates the adjustable seatpost 50 to movethe outer member 52 and the inner member 54 away from each other.

The first condition, for example, includes a case where a pitch angle ofthe human-powered vehicle 10 becomes less than a first angle. The secondcondition, for example, includes a case where the pitch angle of thehuman-powered vehicle 10 becomes greater than or equal to a secondangle. The first angle corresponding to a pitch angle in a case wherethe human-powered vehicle 10 travels downhill. The second anglecorresponds to a pitch angle in a case where the human-powered vehicle10 travels uphill.

With reference to FIG. 18, a process for controlling the adjustableseatpost 50 will now be described. In a case where the electric power issupplied to the controller 62, the controller 62 starts the process andproceeds to step S131 of the flowchart shown in FIG. 19. In a case wherethe process illustrated by the flowchart in FIG. 19 ends, the controller62 repeats the process from step S131 after a predetermined cycle untilthe supply of the electric power stops.

In step S131, the controller 62 determines whether the first conditionhas been satisfied. In a case where the first condition has beensatisfied, the controller 62 proceeds to step S132. In step S132, thecontroller 62 controls the adjustable seatpost 50 so that the outermember 52 and the inner member 54 move toward each other and then endsthe process.

In step S131, in a case where the first condition has not beensatisfied, the controller 62 proceeds to step S133. In step S133, thecontroller 62 determines whether the second condition has beensatisfied. In a case where the second condition has not been satisfied,the controller 62 ends the process. In a case where the second conditionhas been satisfied, the controller 62 proceeds to step S134. In stepS134, the controller 62 controls the adjustable seatpost 50 so that theouter member 52 and the inner member 54 move away from each other andthen ends the process.

In the present embodiment, the controller 62 can determine the extendingor retracting action of the movable member 48 in accordance with atleast one of the control signal for actuating the adjustable seatpost 50to move the outer member 52 and the inner member 54 toward each otherand the control signal for actuating the adjustable seatpost 50 to movethe outer member 52 and the inner member 54 away from each other andsatisfaction of the first condition and the second condition. Thecontroller 62 can be configured to change the actuating speed. Thecontroller 62 can determine the moving speed M in accordance with atleast one of the rotational speed and the control signal of the electricmotor of the electric actuator 50B. The controller 62 changes at leastone of the assist ratio A, the predetermined threshold value HX, and theresponse speed R in accordance with at least one of the determinedactuating direction and the moving speed M of the movable member 48.Specifically, the controller 62 changes at least one of the assist ratioA, the predetermined threshold value HX, and the response speed Rthrough the same processes as the first to twelfth embodiments.

Modified Examples

The description related with the above embodiments exemplifies, withoutany intention to limit, an applicable form of a human-powered vehiclecontrol device according to the present disclosure. In addition to theembodiments described above, the human-powered vehicle control deviceaccording to the present disclosure is applicable to, for example,modified examples of the above embodiments that are described below andcombinations of at least two of the modified examples that do notcontradict each other. In the modified examples described hereafter,same reference numerals are given to those components that are the sameas the corresponding components of the above embodiment. Such componentswill not be described in detail.

Steps S11 and S12 can be omitted from the flowchart in FIG. 3 of thefirst embodiment. In this case, the controller 62 starts the process andproceeds to step S13 in a case where the electric power is supplied tothe controller 62.

Steps S31 and S32 can be omitted from the flowchart in FIG. 6 of thethird embodiment. In this case, the controller 62 starts the process andproceeds to step S33 in a case where the electric power is supplied tothe controller 62.

In the fifth embodiment, in a case where the moving speed M is less thanthe predetermined speed MX and greater than 0, the motor 42 can becontrolled so that the response speed R becomes equal to a thirdresponse speed R3. It is preferred that the controller 62 sets theresponse speed R in a case where the human driving force H increases atthe third response speed R3 to be lower than the response speed R in acase where the human driving force H increases at the second responsespeed R2 and higher than the response speed R in a case where the humandriving force H increases at the first response speed R1. The controller62 can set the response speed R in a case where the human driving forceH decreases at the third response speed R3 to be equal to the responsespeed R in a case where the human driving force H increases at the firstresponse speed R1 or the second response speed R2. Alternatively, thecontroller 62 can set the response speed R in a case where the humandriving force H decreases at the third response speed R3 to be lowerthan the response speed R in a case where the human driving force Hincreases at the first response speed R1 and higher than the responsespeed R in a case where the human driving force H increases at thesecond response speed R2. In this case, for example, in a case where theprocess has started in FIG. 8, if the electric power is supplied to thecontroller 62, the controller 62 determines whether the outer member 52and the inner member 54 are moving relative to each other. In a casewhere the outer member 52 and the inner member 54 are moving relative toeach other, the controller 62 proceeds to step S41. In a case where theouter member 52 and the inner member 54 are not moving relative to eachother, the controller 62 ends the process. In a case where NO isdetermined in step S41, the controller 62 determines whether the movingspeed M is less than the predetermined speed MX and greater than 0. In acase where the moving speed M is less than the predetermined speed MXand greater than 0, the controller 62 proceeds to step S43. In a casewhere the moving speed M is less than the predetermined speed MX andgreater than 0, the controller 62 controls the motor 42 so that theresponse speed R becomes equal to the third response speed R3 and thenends the process.

In the eighth embodiment, in a case where the moving speed M is lessthan the first predetermined speed M1 and greater than 0, the motor 42can be controlled at a fifth assist ratio A5. The fifth assist ratio A5is preferably less than the second assist ratio A2 and greater than thefirst assist ratio A1. In this case, for example, in a case where theprocess has started in FIG. 11, if the electric power is supplied to thecontroller 62, the controller 62 determines whether the outer member 52and the inner member 54 are moving relative to each other. In a casewhere, the outer member 52 and the inner member 54 are moving relativeto each other, the controller 62 proceeds to step S71. In a case wherethe outer member 52 and the inner member 54 are not moving relative toeach other, the controller 62 ends the process. In a case where No isdetermined in step S71, the controller 62 determines whether the movingspeed M is less than the first predetermined speed M1 and greater than0. In a case where the moving speed M is less than the firstpredetermined speed M1 and not greater than 0, the controller 62proceeds to step S73. In a case where the moving speed M is less thanthe first predetermined speed M1 and greater than 0, the controller 62controls the motor 42 at the fifth assist ratio A5 and then ends theprocess.

In the ninth embodiment, in a case where the moving speed M is less thanthe second predetermined speed M2 and greater than 0, the motor 42 canbe controlled at a sixth assist ratio A6. The sixth assist ratio A6 ispreferably greater than the fourth assist ratio A4 and less than thethird assist ratio A3. In this case, for example, in a case where theprocess has started in FIG. 12, if the electric power is supplied to thecontroller 62, the controller 62 determines whether the outer member 52and the inner member 54 are moving relative to each other. In a casewhere, the outer member 52 and the inner member 54 are moving relativeto each other, the controller 62 proceeds to step S81. In a case wherethe outer member 52 and the inner member 54 are not moving relative toeach other, the controller 62 ends the process. In a case where No isdetermined in step S81, the controller 62 determines whether the movingspeed M is less than the second predetermined speed M2 and greater than0. In a case where the moving speed M is less than the secondpredetermined speed M2 and not greater than 0, the controller 62proceeds to step S83. In a case where the moving speed M is less thanthe second predetermined speed M2 and greater than 0, the controller 62controls the motor 42 at the sixth assist ratio A6 and then ends theprocess.

In the eleventh embodiment, in a case where the moving speed M is lessthan the third predetermined speed M3 and greater than 0, thepredetermined threshold value HX can be increased. In this case, it ispreferred that the predetermined threshold value HX in a case where themoving speed M is less than the third predetermined speed M3 and greaterthan 0 be greater than the predetermined threshold value HX in a casewhere the moving speed M is greater than or equal to the thirdpredetermined speed M3. In this case, for example, in a case where theprocess has started in FIG. 14, if the electric power is supplied to thecontroller 62, the controller 62 determines whether the outer member 52and the inner member 54 are moving relative to each other. In a casewhere, the outer member 52 and the inner member 54 are moving relativeto each other, the controller 62 proceeds to step S101. In a case wherethe outer member 52 and the inner member 54 are not moving relative toeach other, the controller 62 ends the process. In a case where NO isdetermined in step S101, the controller 62 determines whether the movingspeed M is less than the third predetermined speed M3 and greater than0. In a case where the moving speed M is less than the thirdpredetermined speed M3 and not greater than 0, the controller 62proceeds to step S103. In a case where the moving speed M is less thanthe third predetermined speed M3 and greater than 0, the controller 62increases the predetermined threshold value HX and then ends theprocess.

In the eleventh embodiment, in a case where the moving speed M of theinner member 54 relative to the outer member 52 is greater than or equalto the third predetermined speed M3, the controller 62 can set thepredetermined threshold value HX to a first predetermined thresholdvalue HX1. In a case where the moving speed M of the inner member 54relative to the outer member 52 is less than the third predeterminedspeed M3, the controller can set the predetermined threshold value HX toa second predetermined threshold value HX2. The first predeterminedthreshold value HX1 is greater than the second predetermined thresholdvalue HX2.

In the processes for changing at least one of the assist ratio A, thepredetermined threshold value HX, and the response speed R of the firstto twelfth embodiments, at least two of the processes that do notcontradict each other can be combined.

In the first to fourteenth embodiments, the controller 62 can determinewhether the actuation of the movable members 48 and 82 are continuing.In a case where the actuation of the movable members 48 and 82 arecontinuing, the controller 62 can control the motor 42 in accordancewith at least one of the actuating direction and the actuating speed ofthe movable members 48 and 82. For example, the flowchart in FIG. 17 ofthe thirteenth embodiment can be changed to the one in FIG. 19. Afterexecuting step S122, the controller 62 proceeds to step S123. In stepS123, the controller 62 determines whether the outer member 92 and theinner member 94 are moving relative to each other. In a case where thecontroller 62 determined that the outer member 92 and the inner member94 are moving relative to each other, the controller 62 executes stepS122 again. Specifically, in a case where the controller 62 hasdetermined that the outer member 92 and the inner member 94 are movingrelative to each other in step S121 or the preceding step S123 and thenthe outer member 92 and the inner member 94 further moved relative toeach other, the controller 62 determines that the outer member 92 andthe inner member 94 are moving relative to each other. In step S123, ina case where the controller 62 determines that the outer member 92 andthe inner member 94 are not moving relative to each other, thecontroller 62 proceeds to step S124. In step S124, the controller 62ends controlling the motor 42 in accordance with at least one of theactuating direction and the actuating speed of the movable member 48 andthen ends the process. For example, in a case where the controller 62has changed the assist ratio A, the predetermined threshold value HX,and the response speed R in step S122, the controller 62 can change theassist ratio A, the predetermined threshold value HX, and the responsespeed R back to those before step S122 in step S124. Each time thecontroller executes step S122, the controller 62 can change to thecontrol of the motor 42 in accordance with at least one of theimmediately previous moving direction and the actuating speed of themovable member 48.

The following technical concepts can be included in the thirteenthembodiment.

The movable member 48 is a front suspension that includes the outermember 92 and the inner member 94, and in a case where the frontsuspension is actuated to move the outer member 92 and the inner member94 away from each other, the controller 62 decreases the assist ratio Aof the motor 42.

In a case where the front suspension is actuated to move the outermember 92 and the inner member 94 toward each other, the controller 62increases the assist ratio A of the motor 42.

The movable member 48 is a front suspension that includes the outermember 92 and the inner member 94, and in a case where the frontsuspension is actuated to move the outer member 92 and the inner member94 toward each other, the controller 62 increases the assist ratio A ofthe motor 42.

The movable member 48 is a rear suspension that includes the outermember 92 and the inner member 94, and in a case where the rearsuspension is actuated to move the outer member 92 and the inner member94 away from each other, the controller 62 increases the assist ratio Aof the motor 42.

The movable member 48 is a rear suspension that includes the outermember 92 and the inner member 94, and in a case where the rearsuspension is actuated to move the outer member 92 and the inner member94 toward each other, the controller 62 decreases the assist ratio A ofthe motor 42.

The movable member 48 is a front suspension that include the outermember 92 and the inner member 94, and in a case where the movementamount of the inner member 94 relative to the outer member 92 is greaterthan or equal to a predetermined value and the moving speed M of theinner member 94 relative to the outer member 92 is greater than or equalto a predetermined speed MA, the controller 62 decreases the assistratio A of the motor 42.

The movable member 48 is a rear suspension that include the outer member92 and the inner member 94, and in a case where the movement amount ofthe inner member 94 relative to the outer member 92 is greater than orequal to a predetermined value and the moving speed M of the innermember 94 relative to the outer member 92 is greater than or equal to apredetermined speed MA, the controller 62 decreases the assist ratio Aof the motor 42.

The phrase “at least one of” as used in this disclosure means “one ormore” of a desired choice. For one example, the phrase “at least one of”as used in this disclosure means “only one single choice” or “both oftwo choices” if the number of its choices is two. For another example,the phrase “at least one of” as used in this disclosure means “only onesingle choice” or “any combination of equal to or more than two choices”if the number of its choices is equal to or more than three.

DESCRIPTION OF REFERENCE CHARACTERS

10) human-powered vehicle, 14) crank, 12) wheel, 42) motor, 46)transmission, 48) movable member, 50) adjustable seatpost, 52) outermember, 54) inner member, 60) human-powered vehicle control device, 62)controller, 80) operation device, 82) movable member, 90) suspension,92) outer member, 94) inner member

1. A human-powered vehicle control device, comprising: a controllerconfigured to control a motor that assists propulsion of a human-poweredvehicle including a movable member that is extensible and retractable,wherein the controller controls the motor in accordance with actuationof the movable member during an extending or retracting action of themovable member.
 2. The human-powered vehicle control device according toclaim 1, wherein the controller is configured to control the motor inaccordance with at least one of an actuating direction and an actuatingspeed of the movable member.
 3. The human-powered vehicle control deviceaccording to claim 1, wherein the movable member is an adjustableseatpost that includes an outer member and an inner member, and thecontroller increases an assist ratio of the motor to human driving forceinput to the human-powered vehicle in a case where the adjustableseatpost is actuated to move the outer member and the inner member awayfrom each other.
 4. The human-powered vehicle control device accordingto claim 3, wherein the controller decreases the assist ratio of themotor in a case where the adjustable seatpost is actuated to move theouter member and the inner member toward each other.
 5. Thehuman-powered vehicle control device according to claim 1, wherein themovable member is an adjustable seatpost that includes an outer memberand an inner member, and the controller decreases an assist ratio of themotor to human driving force input to the human-powered vehicle in acase where the adjustable seatpost is actuated to move the outer memberand the inner member toward each other.
 6. The human-powered vehiclecontrol device according to claim 1, wherein the movable member is anadjustable seatpost that includes an outer member and an inner member,the controller starts driving the motor in a case where human drivingforce input to the human-powered vehicle becomes equal to apredetermined threshold value, and the controller decreases thepredetermined threshold value in a case where the adjustable seatpost isactuated to move the outer member and the inner member away from eachother.
 7. The human-powered vehicle control device according to claim 6,wherein the controller increases the predetermined threshold value in acase where the adjustable seatpost is actuated to move the outer memberand the inner member toward each other.
 8. The human-powered vehiclecontrol device according to claim 1, wherein the movable member is anadjustable seatpost that includes an outer member and an inner member,the controller starts driving the motor in a case where human drivingforce input to the human-powered vehicle becomes equal to apredetermined threshold value, and the controller increases thepredetermined threshold value in a case where the adjustable seatpost isactuated to move the outer member and the inner member toward eachother.
 9. The human-powered vehicle control device according to claim 1,wherein the movable member is an adjustable seatpost that includes anouter member and an inner member, the controller controls the motor sothat a response speed of the motor becomes equal to a first responsespeed in a case where a moving speed of the inner member relative to theouter member is greater than or equal to a predetermined speed, thecontroller controls the motor so that the response speed of the motorbecomes equal to a second response speed in a case where the movingspeed of the inner member relative to the outer member is less than thepredetermined speed, and the first response speed is lower than thesecond response speed.
 10. The human-powered vehicle control deviceaccording to claim 2, wherein the movable member is an adjustableseatpost that includes an outer member and an inner member, thecontroller changes an assist ratio of the motor to human driving forceinput to the human-powered vehicle in accordance with a moving directionof the inner member relative to the outer member, and the controllerchanges a response speed of the motor in accordance with a moving speedof the inner member relative to the outer member.
 11. The human-poweredvehicle control device according to claim 2, wherein the movable memberis an adjustable seatpost that includes an outer member and an innermember, the controller starts driving the motor in a case where humandriving force input to the human-powered vehicle becomes equal to apredetermined threshold value, the controller changes the predeterminedthreshold value in accordance with a moving direction of the innermember relative to the outer member, and the controller changes aresponse speed of the motor in accordance with a moving speed of theinner member relative to the outer member.
 12. The human-powered vehiclecontrol device according to claim 1, wherein the movable member is anadjustable seatpost that includes an outer member and an inner member,the controller controls the motor at a first assist ratio in a casewhere a moving speed of the inner member relative to the outer member isgreater than or equal to a first predetermined speed, the controllercontrols the motor at a second assist ratio in a case where the movingspeed of the inner member relative to the outer member is less than thefirst predetermined speed, and the first assist ratio is lower than thesecond assist ratio.
 13. The human-powered vehicle control deviceaccording to claim 1, wherein the movable member is an adjustableseatpost that includes an outer member and an inner member, thecontroller controls the motor at a third assist ratio in a case where amoving speed of the inner member relative to the outer member is greaterthan or equal to a second predetermined speed, the controller controlsthe motor at a fourth assist ratio in a case where the moving speed ofthe inner member relative to the outer member is less than the secondpredetermined speed, and the third assist ratio is higher than thefourth assist ratio.
 14. The human-powered vehicle control deviceaccording to claim 1, wherein the human-powered vehicle includes a wheeland a crank, the movable member is an adjustable seatpost, thecontroller controls a transmission that changes a transmission ratio ofa rotational speed of the crank to a rotational speed of the wheel inaccordance with a traveling state of the human-powered vehicle, and thecontroller changes a transmission threshold value of the transmissionratio in accordance with the actuation of the adjustable seatpost. 15.The human-powered vehicle control device according to claim 1, whereinthe movable member is an adjustable seatpost that includes an outermember and an inner member, the controller starts driving the motor in acase where human driving force input to the human-powered vehiclebecomes equal to a predetermined threshold value, and the controllerincreases the predetermined threshold value in a case where a movingspeed of the inner member relative to the outer member is greater thanor equal to a third predetermined speed.
 16. The human-powered vehiclecontrol device according to claim 15, wherein the controller decreasesthe predetermined threshold value in a case where the moving speed ofthe inner member relative to the outer member is less than the thirdpredetermined speed.
 17. A human-powered vehicle control device,comprising: a controller configured to control a motor that assistspropulsion of a human-powered vehicle having an operation deviceincluding a movable member, wherein the controller is configured tocontrol the motor in accordance with at least one of an actuating speedand an actuating direction of the movable member.
 18. The human-poweredvehicle control device according to claim 17, wherein the operationdevice includes at least one of a lever-type operation device and agrip-type operation device.